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Is there some kind of hidden challenge in here? Or it is just visit A and B?

I think it's actually A or B, with the challenge being visit highest point (mountain), lowest point (crater), or one of the poles.

If I read it correctly, you do have to bring a rover, and "extra" challenge for driving it 5km and/or doing the Alpine mission. Also, there can only be one lander, so your lander (whatever form it may take) needs to contain the rover. Additionally, there seems to be no "Return to Kerbin" requirement, nor a requirement to visit both Duna and Ike.

At least this is how I read it... I may add for my own extra challenge, return to Kerbin and land at the KSC.

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I noticed the single white spot on the Ike topo-map, so the highest point seems obvious. ...lowest point seems pretty obvious too.

The topo-map for Duna was a little trickier... I'm maybe leaning toward one of the pink spots on a mountain range near the North Pole. Lowest point for Duna looks to be a guess for which equatorial crater/crevace you'd most like to visit. I see a nice round one that looks promising.

Duna Topo-Map

If the highest/lowest points aren't definitively a given, some exploration and screenshots of flags at various high/low altitudes may be a fun competitive element.